version: 66.03
glider: 139
mission: 3
dive: 198
start: 8 7 108 2 18 5
data:
$ID,139
$MISSION,3
$DIVE,198
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,210
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51851
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1274748.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2795
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,205
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2664
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-15.422788
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.25
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043412433
$SEABIRD_T_H,0.00063263031
$SEABIRD_T_I,2.551855e-05
$SEABIRD_T_J,2.8651004e-06
$SEABIRD_C_G,-9.8929949
$SEABIRD_C_H,1.093717
$SEABIRD_C_I,-0.0013470891
$SEABIRD_C_J,0.00018459925
$GPS1,021038,2108.914,-15800.035,25,1.2,25,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-68.5
$GPS2,021714,2108.897,-15800.121,29,1.9,29,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,0.051
$KALMAN_X,-152670.4,406.5,469.5,139171.0,-4104.0
$KALMAN_Y,-79221.6,255.5,-192.2,64752.7,-128.2
$MHEAD_RNG_PITCHd_Wd,68.6,25839,-11.9,-7.143
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,71,0.00,0.00,-49.75,0.000,2,0.000,0.000,425,2099,2689
$GC,74,-0.96,-175.2,3.2,-3.1,9,109,12.15,2.33,-13.55,0.000,4,0.154,0.080,2575,3452,3382
$GC,126,-0.96,-175.2,14.2,-16.3,18,133,0.00,1.95,0.00,0.000,6,0.000,0.021,2575,2243,3383
$GC,245,-0.96,-175.2,27.8,-11.2,39,252,0.00,2.33,0.00,0.000,4,0.000,0.034,2575,844,3383
$GC,269,-0.96,-175.2,30.6,-11.5,43,272,0.00,1.73,0.00,0.000,6,0.000,0.060,2575,1958,3383
$GC,599,-0.96,-175.2,71.3,-11.1,74,603,0.00,2.50,0.00,0.000,4,0.000,0.029,2575,3460,3384
$GC,671,-0.96,-175.2,77.7,-7.7,80,675,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2229,3384
$GC,1001,-0.96,-175.2,100.8,-7.3,111,1005,0.00,2.33,0.00,0.000,4,0.000,0.034,2575,839,3385
$GC,1090,-0.96,-175.2,108.3,-8.9,118,1097,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2072,3385
$GC,1418,-0.96,-175.2,139.8,-10.3,149,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2075,3385
$GC,1734,-0.96,-175.2,170.7,-6.6,179,1737,0.00,2.08,0.00,0.000,4,0.000,0.034,2575,837,3386
$GC,1767,-0.96,-175.2,173.3,-7.8,182,1771,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2082,3386
$GC,2098,-0.96,-175.2,195.0,-5.7,213,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2087,3386
$GC,2420,-0.96,-175.2,210.5,-3.9,233,2423,0.00,2.10,0.00,0.000,4,0.000,0.035,2574,838,3386
$GC,2465,-0.96,-175.2,212.2,-3.4,235,2469,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2077,3386
$GC,2798,-0.96,-175.2,228.3,-5.7,251,2801,0.00,2.10,0.00,0.000,4,0.000,0.036,2574,836,3385
$GC,2836,-0.96,-175.2,230.5,-5.5,252,2843,0.00,2.03,0.00,0.000,6,0.000,0.021,2575,2101,3385
$GC,3152,-0.96,-175.2,246.1,-4.3,268,3155,0.00,2.12,0.00,0.000,4,0.000,0.075,2574,839,3385
$GC,3197,-0.96,-175.2,248.0,-4.2,270,3200,0.00,2.00,0.00,0.000,6,0.000,0.064,2575,2078,3385
$GC,3529,-0.96,-175.2,260.4,-4.8,286,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3383
$GC,3838,-0.96,-175.2,282.0,-7.4,301,3841,0.00,2.10,0.00,0.000,4,0.000,0.038,2574,839,3382
$GC,3865,-0.96,-175.2,284.0,-7.1,302,3869,0.00,2.05,0.00,0.000,6,0.000,0.024,2575,2077,3382
$GC,4192,-0.96,-175.2,304.2,-5.5,316,4196,0.00,2.38,0.00,0.000,4,0.000,0.046,2575,3473,3381
$GC,4219,-0.96,-175.2,305.5,-4.3,316,4223,0.00,2.03,0.00,0.000,6,0.000,0.024,2575,2239,3381
$GC,4556,-0.96,-175.2,327.8,-7.9,325,4560,0.00,2.38,0.00,0.000,4,0.000,0.039,2575,839,3379
$GC,4610,-0.96,-175.2,332.1,-7.9,326,4615,0.00,2.05,0.00,0.000,6,0.000,0.025,2575,2070,3379
$GC,4924,-0.96,-175.2,360.3,-10.1,334,4927,0.00,2.10,0.00,0.000,4,0.000,0.039,2574,841,3377
$GC,4956,-0.96,-175.2,363.5,-10.0,334,4960,0.00,2.05,0.00,0.000,6,0.000,0.025,2575,2070,3378
$GC,5293,-0.96,-175.2,394.6,-9.0,343,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2074,3376
$GC,5618,-0.96,-175.2,419.4,-8.0,351,5621,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,3467,3374
$GC,5650,-0.96,-175.2,422.2,-9.0,351,5654,0.00,2.05,0.00,0.000,6,0.000,0.026,2575,2250,3374
$STATE,5985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5986,begin apogee
$GC,5990,-0.31,0.0,452.8,9.4,360,6136,0.70,0.00,142.82,0.883,6,0.173,0.000,2729,2249,2664
$STATE,6137,end apogee,CONTROL_FINISHED_OK
$STATE,6137,begin climb
$GC,6139,0.96,175.2,460.6,0.0,363,6294,1.20,2.25,145.80,0.861,4,0.035,0.045,3012,3473,1948
$GC,6312,1.09,278.3,466.7,4.3,367,6407,0.00,2.12,88.62,0.846,6,0.000,0.067,3012,2249,1528
$GC,6752,1.09,278.3,430.0,11.5,378,6756,0.00,2.45,0.00,0.000,4,0.000,0.051,3012,852,1519
$GC,6862,1.09,278.3,413.5,13.9,380,6867,0.00,2.08,0.00,0.000,6,0.000,0.058,3012,2065,1516
$GC,7205,1.09,278.3,377.8,9.3,389,7209,0.00,2.45,0.00,0.000,4,0.000,0.043,3012,3477,1515
$GC,7271,1.09,278.3,370.8,9.6,390,7275,0.00,2.10,0.00,0.000,6,0.000,0.029,3012,2255,1515
$GC,7613,1.09,278.3,330.1,14.9,399,7617,0.00,2.45,0.00,0.000,4,0.000,0.046,3012,845,1514
$GC,7757,1.09,278.3,308.8,13.2,402,7761,0.00,2.10,0.00,0.000,6,0.000,0.028,3012,2078,1511
$GC,8079,1.09,278.3,273.0,11.5,415,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2082,1511
$GC,8388,1.09,278.3,245.6,7.7,430,8392,0.00,2.42,0.00,0.000,4,0.000,0.041,3012,3482,1510
$GC,8414,1.09,278.3,243.5,8.0,431,8418,0.00,2.10,0.00,0.000,6,0.000,0.066,3012,2252,1510
$GC,8736,1.17,343.6,224.3,5.4,447,8799,0.15,2.47,55.88,0.729,4,0.047,0.074,3061,850,1261
$GC,8946,1.17,343.6,197.7,12.9,457,8949,0.00,2.08,0.00,0.000,6,0.000,0.025,3060,2095,1255
$GC,9276,1.17,343.6,154.4,14.8,488,9280,0.00,2.17,0.00,0.000,4,0.000,0.081,3060,848,1253
$GC,9331,1.17,343.6,145.6,16.6,492,9338,0.00,2.05,0.00,0.000,6,0.000,0.024,3061,2076,1252
$GC,9658,1.17,343.6,99.5,13.8,523,9662,0.00,2.38,0.00,0.000,4,0.000,0.068,3061,3474,1251
$GC,9675,1.17,343.6,97.2,13.0,524,9678,0.00,2.05,0.00,0.000,6,0.000,0.023,3061,2239,1252
$GC,10006,1.17,343.6,59.8,10.3,555,10010,0.00,2.40,0.00,0.000,4,0.000,0.041,3060,837,1252
$GC,10247,1.17,343.6,34.2,8.7,576,10250,0.00,1.73,0.00,0.000,6,0.000,0.065,3061,1928,1251
$GC,10586,1.17,343.6,5.8,10.7,631,10592,0.00,2.58,0.00,0.000,4,0.000,0.030,3061,3474,1252
$STATE,10613,end climb,SURFACE_DEPTH_REACHED
$STATE,10613,begin surface coast
$FINISH,1.8,1.023106
$STATE,10626,end surface coast,CONTROL_FINISHED_OK
$STATE,10626,begin surface
$SM_CCo,10708,0.00,0.000,0,0,1248,347.34
$SM_GC,2.07,11.40,0.00,0.00,0.037,0.000,0.000,433,2241,1248,-10.80,4.58,347.34
$IRIDIUM_FIX,2101.76,-15758.18,311097,222225
$TT8_MAMPS,0.028379
$HUMID,1967
$INTERNAL_PRESSURE,8.62932
$TCM_TEMP,22.60
$XPDR_PINGS,630
$24V_AH,23.3,58.070
$10V_AH,10.2,33.426
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.600,99.625,433.125,0.000,0.000,30.176,27.335,196.735,157.500,0.000,0.000,31.157,1146.343,7517.244,478.231,1521.517,426.749,33.378,1236.524,0.000,1490.893,0.000,0.470
$DEVICE_MAMPS,173.342,81.302,882.817,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.990,421.435,714.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31716,638
$CAP_FILE_SIZE,89732,3
$CFSIZE,260165632,247660544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070808,051737,2109.121,-15800.166,29,1.5,29,9.8